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Dual arms running control method of inspection robot based on obliquitous sensor
Zhu XL(朱兴龙); Wang HG(王洪光); Fang LJ(房立金); Zhao MY(赵明扬); Zhou JP(周骥平)
Department机器人学研究室
Conference NameIEEE/RSJ International Conference on Intelligent Robots and Systems
Conference DateOctober 9-13, 2006
Conference PlaceBeijing, China
Author of SourceIEEE, RSJ
Source Publication2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-12
PublisherIEEE
Publication PlaceNEW YORK
2006
Pages5273-5278
Indexed ByEI ; CPCI(ISTP)
EI Accession number20072510665471
WOS IDWOS:000245452405058
Contribution Rank1
ISBN978-1-4244-0258-8
KeywordDual Arm Running Obliquitous Sensor Inspection Of Transmission Lines Mobile Robot
AbstractInspection robot with dual wheels encounters upslope and down slope, when it runs on the overhead ground wires (OGWs) which displays catenary shape. The tilt of the body of inspection robot, which is caused by the angle variation of catenary in different position, will occur during running procedure, and disenable to check vertically the transmission lines by camera. An adjustment method, which can keep the body of inspection robot in horizontal pose, is presented by the obliquitous sensor changing the length of the manipulators in this paper. In order to implement the pose adjustment, the dynamic model is established by Lagrange method. Finally, the simulation and experiment results show that the adjustment method proposed is feasible.
Language英语
Citation statistics
Cited Times:8[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/8678
Collection机器人学研究室
Affiliation1.Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy of Sciences Shenyang, Liaoning Province, 110016, China
2.Mechanical Engineering College, Yangzhou University, Yangzhou, Jiangsu Province, 225009, China
Recommended Citation
GB/T 7714
Zhu XL,Wang HG,Fang LJ,et al. Dual arms running control method of inspection robot based on obliquitous sensor[C]//IEEE, RSJ. NEW YORK:IEEE,2006:5273-5278.
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